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. 2023 Nov 22;13:20484. doi: 10.1038/s41598-023-47430-z

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© The Author(s) 2023

Open Access This article is licensed under a Creative Commons Attribution 4.0 International License, which permits use, sharing, adaptation, distribution and reproduction in any medium or format, as long as you give appropriate credit to the original author(s) and the source, provide a link to the Creative Commons licence, and indicate if changes were made. The images or other third party material in this article are included in the article’s Creative Commons licence, unless indicated otherwise in a credit line to the material. If material is not included in the article’s Creative Commons licence and your intended use is not permitted by statutory regulation or exceeds the permitted use, you will need to obtain permission directly from the copyright holder. To view a copy of this licence, visit http://creativecommons.org/licenses/by/4.0/.

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Comparison of normalized Q1 answers (Eq. 4) between cycles for one representative subject. The exoskeleton control parameters are k (effective stiffness) and m (rate of reference position change). For this subject, they found low k most comfortable in cycle 1. In cycle 2, they found moderate k and moderate m most comfortable. In 6 out of 14 subjects, the area of maximum comfort shifted towards more moderate k and m in the second cycle compared to the first cycle.